A pesticide spraying and irrigation robot system

Abstract

The present invention discloses a pesticide spraying and irrigation robot system, belonging to the technical field of agricultural robots, to solve the problem that the current orchards lack corresponding pesticide spraying equipment, resulting in low pesticide spraying efficiency in the orchards and harm to the human body at the same time. It includes a liquid medicine tank, on the surface of the liquid medicine tank, a rotary lifting seat and an electric control box are installed. On both sides of the top of the rotary lifting seat, angle adjusting arms are installed. Inside the angle adjusting arms, position adjusting arms are slidably installed. At the same time, according to the usage requirements, by controlling the operations of the rotary lifting seat, the angle adjusting arms and the position adjusting arms, the positions, angles and heights of the row-type spraying frame and the fog cannon spraying frame can be adjusted, so as to facilitate the pesticide spraying operation at different positions of the fruit trees, enabling the liquid medicine to evenly contact the fruit trees, not only improving the efficiency, but also minimizing the contact between the medicine and the human body as much as possible.

Description

Technical Field

[0001] A pesticide spraying and irrigation robot system. The present invention belongs to the technical field of agricultural robots, and specifically relates to the technical field of pesticide spraying and irrigation robots. Background Art

[0002] During the growth process of fruits, in order to prevent fruits from being threatened by pests and diseases, it is necessary to spray pesticides on fruit trees to ensure their healthy growth. With the development of agriculture, robots for agricultural spraying have gradually become popular. Most of them use drones for pesticide spraying operations. However, this spraying operation is only suitable for relatively short crops and is not suitable for pesticide spraying operations in orchards. Therefore, at present, most orchards still use manual methods for pesticide spraying operations, which not only have low efficiency but also contact the skin during spraying, causing harm to the human body. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to overcome the existing defects and provide a pesticide spraying and irrigation robot system, thereby solving the problem that there is a lack of corresponding pesticide spraying equipment in current orchards, resulting in low pesticide spraying efficiency in orchards and also causing harm to the human body.

[0004] To achieve the above object, the present invention provides the following technical solutions:

[0005] A pesticide spraying and irrigation robot system includes a liquid medicine tank. A rotary lifting seat and an electric control box are installed on the surface of the liquid medicine tank. Angle adjusting arms are installed on both sides of the top of the rotary lifting seat. A position adjusting arm is slidably installed inside the angle adjusting arm. Angle adjusting seats are installed at both ends of the position adjusting arm. A row-type spraying rack is detachably installed on the angle adjusting seat on one side of the rotary lifting seat, and a fog cannon spraying rack is detachably installed on the angle adjusting seat on the other side of the rotary lifting seat. Pipe racks are installed on both sides of the liquid medicine tank.

[0006] As a preferred technical solution of the present invention, the rotary lifting seat includes a support pipe installed on the surface of the liquid medicine tank. An inner sliding pipe is slidably installed inside the support pipe. The top of the inner sliding pipe is located above the support pipe. A bearing seat is fixed to the side surface of the top of the inner sliding pipe through a limit ring. The bottom end of the bearing seat is connected to the surface of the liquid medicine tank through an electric push rod I. A motor I is installed at a position on the surface of the liquid medicine tank corresponding to the inside of the support pipe. A connecting rod is installed on the output shaft of the motor I through a coupling. A connecting block is installed inside the inner sliding pipe, and a sliding hole is opened on the connecting block corresponding to the position of the connecting rod.

[0007] As a preferred technical solution of the present invention, the angle adjustment arm includes mounting shells fixed on both sides of the inner sliding tube. A second motor is installed inside the mounting shell. The output shaft of the second motor penetrates and extends to the outside of the mounting shell and is connected to a fixed shell through a fixing pin. A bearing is provided between the fixed shell and the mounting shell.

[0008] As a preferred technical solution of the present invention, an adjustment tube is slidably installed inside the fixed shell. A chute is provided on one side of the adjustment tube. A guide rod is installed inside the fixed shell at a position corresponding to the chute. A rack is installed on the other side of the adjustment tube. A rotating shaft is installed inside the fixed shell on the side of the rack. The top end of the rotating shaft penetrates and extends to the outside of the fixed shell and is connected to a third motor. A gear meshing with the rack is sleeved on the rotating shaft. An electric push rod two is installed inside one end of the adjustment tube. The electric push rod two penetrates and extends to the outside of the adjustment tube and is connected to a fixed tube. Fixed tubes are also installed on the other end of the adjustment tube.

[0009] As a preferred technical solution of the present invention, the angle adjustment seat includes a fourth motor installed inside the fixed tube. The output shaft of the fourth motor penetrates and extends to the outside of the fixed tube. A support ring is installed on the side of the fixed tube at a position corresponding to the outside of the output shaft of the fourth motor.

[0010] As a preferred technical solution of the present invention, the row type spraying frame includes a U-shaped seat sleeved outside the support ring. The inside of the U-shaped seat is connected to the support ring through a connecting bearing. An installation plate is fixed on the side of the U-shaped seat through a fixing bolt. A liquid inlet pipe is installed on one side of the installation plate. A spray pipe is installed on the other side of the installation plate. Nozzles one are distributed on the spray pipe.

[0011] As a preferred technical solution of the present invention, the fog cannon spraying frame includes an installation ring. The installation ring is fixed on the side of the fixed tube through a fixing column. The output shaft of the fourth motor is arranged inside the installation ring and is connected to a connecting seat through a pin shaft. A fan blade frame is installed on the connecting seat. An annular pipe is installed outside the installation ring. Nozzles two are distributed on the annular pipe. The water outlet ends of the nozzles two are arranged inside the installation ring. The fan blade frame is arranged between the nozzles two and the pin shaft. Air inlets are distributed on the surface of the installation ring corresponding to the fixed tube.

[0012] As a preferred technical solution of the present invention, the pipeline frame includes an installation frame installed on the side of the liquid medicine tank. A fifth motor is installed outside the installation frame. The output shaft of the fifth motor penetrates and extends to the inside of the installation frame and is connected to a storage shaft. A hose is wound around the storage shaft. The side of the liquid medicine tank is connected to a suction pump through a pipeline. The liquid outlet end of the suction pump is connected to the hose.

[0013] Compared with the prior art, the beneficial effects of the present invention are as follows: The row-type spraying frame and the fog cannon spraying frame are designed according to the types of different fruit trees. At the same time, according to the usage requirements, by controlling the operations of the rotary lifting seat, the angle adjustment arm and the position adjustment arm, the position, angle and height of the row-type spraying frame and the fog cannon spraying frame can be adjusted, so that it is convenient to spray pesticides at different positions of the fruit trees, enabling the liquid medicine to evenly contact the fruit trees, not only improving the efficiency, but also minimizing the contact between the medicine and the human body as much as possible, thereby reducing the harm to the human body. Brief Description of the Drawings

[0014] Figure 1 It is a three-dimensional structure schematic diagram of the present invention;

[0015] Figure 2 It is a three-dimensional side structure schematic diagram of the present invention;

[0016] Figure 3 It is a first sectional structure schematic diagram of the present invention;

[0017] Figure 4 It is a second sectional structure schematic diagram of the present invention;

[0018] Figure 5 It is a partial enlarged view of the A1 end of the present invention;

[0019] Figure 6 It is a partial enlarged view of the A2 end of the present invention;

[0020] Figure 7 It is a partial enlarged view of the A3 end of the present invention;

[0021] 1 - Liquid medicine tank; 2 - Rotary lifting seat; 3 - Angle adjustment arm; 4 - Position adjustment arm; 5 - Angle adjustment seat; 6 - Row-type spraying frame; 7 - Fog cannon spraying frame; 8 - Pipe rack; 9 - Electric control box; 10 - Support pipe; 11 - Inner sliding pipe; 12 - Limit ring; 13 - Bearing seat; 14 - Electric push rod one; 15 - Connecting block; 16 - Motor one; 17 - Connecting rod; 18 - Installation shell; 19 - Motor two; 20 - Fixed shell; 21 - Fixed pin; 22 - Bearing; 23 - Adjusting pipe; 24 - Guide rod; 25 - Chute; 26 - Rack; 27 - Rotating shaft; 28 - Gear; 29 - Motor three; 30 - Electric push rod two; 31 - Fixed pipe; 32 - Motor four; 33 - U-shaped seat; 34 - Connecting bearing; 35 - Fixed bolt; 36 - Installation plate; 37 - Liquid inlet pipe; 38 - Spray pipe; 39 - Nozzle one; 40 - Pin shaft; 41 - Connecting seat; 42 - Fan blade frame; 43 - Installation ring; 44 - Fixed column; 45 - Air inlet; 46 - Annular pipe; 47 - Nozzle two; 48 - Installation frame; 49 - Motor five; 50 - Storage shaft; 51 - Hose; 52 - Pump; 53 - Support ring. Detailed Embodiments

[0022] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0023] Please refer to Figures 1-7 , the present invention provides a technical solution:

[0024] A pesticide spraying and irrigation robot system includes a liquid medicine tank 1. The liquid medicine tank 1 can be installed on an external mobile device and is driven by the external device to move. A rotary lifting seat 2 and an electric control box 9 are installed on the surface of the liquid medicine tank 1. Angle adjusting arms 3 are installed on both sides of the top of the rotary lifting seat 2. A position adjusting arm 4 is slidably installed inside the angle adjusting arm 3. Angle adjusting seats 5 are installed at both ends of the position adjusting arm 4. A row-type spraying frame 6 is detachably installed on the angle adjusting seat 5 on one side of the rotary lifting seat 2, and a fog cannon spraying frame 7 is detachably installed on the angle adjusting seat 5 on the other side of the rotary lifting seat 2. Pipe racks 8 are installed on both sides of the liquid medicine tank 1. Liquid medicine is added to the inside of the liquid medicine tank 1, and then the electric control box 9 controls the operations of the rotary lifting seat 2, the angle adjusting arms 3, and the position adjusting arm 4, thereby adjusting the positions of the row-type spraying frame 6 and the fog cannon spraying frame 7 so that they can reach different positions, thereby facilitating the spraying operation of drugs at different positions.

[0025] The rotary lifting seat 2 includes a support pipe 10 installed on the surface of the liquid medicine tank 1. An inner sliding pipe 11 is slidably installed inside the support pipe 10. The top of the inner sliding pipe 11 is located above the support pipe 10. A bearing seat 13 is fixed to the side surface of the top of the inner sliding pipe 11 through a limit ring 12. The bottom end of the bearing seat 13 is connected to the surface of the liquid medicine tank 1 through an electric push rod 14. A motor 16 is installed at a position corresponding to the inside of the support pipe 10 on the surface of the liquid medicine tank 1. A connecting rod 17 is installed on the output shaft of the motor 16 through a coupling. A connecting block 15 is installed inside the inner sliding pipe 11. A sliding hole is provided in the connecting block 15 corresponding to the position of the connecting rod 17. When the electric push rod 14 extends to the maximum distance, the connecting rod 17 is still inside the connecting block 15. By controlling the operation of the electric push rod 14, the height of the inner sliding pipe 11 can be adjusted, and by controlling the operation of the motor 16, the angle adjustment operation of the angle adjusting arm 3 can be facilitated.

[0026] The angle adjustment arm 3 includes mounting shells 18 fixed on both sides of the inner sliding tube 11. A second motor 19 is installed inside the mounting shell 18. The output shaft of the second motor 19 penetrates and extends outside the mounting shell 18 and is connected to a fixed shell 20 through a fixing pin 21. A bearing 22 is arranged between the fixed shell 20 and the mounting shell 18. By controlling the operation of the second motor 19, it is convenient to drive the fixed shell 20 to rotate.

[0027] An adjustment tube 23 is slidably installed inside the fixed shell 20. A chute 25 is opened on one side of the adjustment tube 23. A guide rod 24 is installed inside the fixed shell 20 at a position corresponding to the chute 25. A rack 26 is installed on the other side of the adjustment tube 23. A rotating shaft 27 is installed inside the fixed shell 20 on the side of the rack 26. The top end of the rotating shaft 27 penetrates and extends outside the fixed shell 20 and is connected to a third motor 29. A gear 28 meshing with the rack 26 is sleeved on the rotating shaft 27. An electric push rod two 30 is installed inside one end of the adjustment tube 23. The electric push rod two 30 penetrates and extends outside the adjustment tube 23 and is connected to a fixed tube 31. A fixed tube 31 is also installed on the other end of the adjustment tube 23. By controlling the operation of the third motor 29, the rotating shaft 27 is driven to rotate, so as to drive the adjustment tube 23 to slide inside the fixed shell 20. The setting of the electric push rod two 30 expands the overall variable distance range, so that the row-type spraying frame 6 and the fog cannon spraying frame 7 can move to a farther distance, so as to facilitate spraying operations at ultra-high and ultra-low positions.

[0028] The angle adjustment seat 5 includes a fourth motor 32 installed inside the fixed tube 31. The output shaft of the fourth motor 32 penetrates and extends outside the fixed tube 31. A support ring 53 is installed on the side of the fixed tube 31 at a position corresponding to the outside of the output shaft of the fourth motor 32.

[0029] The row-type spraying frame 6 includes a U-shaped seat 33 sleeved outside the support ring 53. The inside of the U-shaped seat 33 is connected to the support ring 53 through a connecting bearing 34. A mounting plate 36 is fixed on the side of the U-shaped seat 33 through a fixing bolt 35. A liquid inlet pipe 37 is installed on one side of the mounting plate 36. A spray pipe 38 is installed on the other side of the mounting plate 36. Nozzles one 39 are distributed on the spray pipe 38. By controlling the operation of the fourth motor 32, it is convenient to drive the U-shaped seat 33 to rotate, so as to drive the spray pipe 38 to rotate, so as to facilitate the adjustment of the position of the liquid medicine sprayed from the nozzles one 39.

[0030] The fog cannon spraying frame 7 includes a mounting ring 43. The mounting ring 43 is fixed to the side of the fixed pipe 31 through a fixed column 44. The output shaft of the fourth motor 32 is arranged inside the mounting ring 43 and is connected with a connecting seat 41 through a pin shaft 40. A fan blade frame 42 is mounted on the connecting seat 41. An annular pipe 46 is mounted outside the mounting ring 43. Nozzles II 47 are distributed on the annular pipe 46. The water outlet end of the nozzle II 47 is arranged inside the mounting ring 43. The fan blade frame 42 is arranged between the nozzle II 47 and the pin shaft 40. Air inlets 45 are distributed on the surface of the mounting ring 43 corresponding to the fixed pipe 31. By controlling the operation of the fourth motor 32, the fan blade frame 42 is driven to rotate, so as to facilitate blowing the liquid medicine sprayed by the nozzle II 47, so that the liquid medicine can spread over a larger area, thus facilitating rapid spraying operation on a flat area.

[0031] The pipe rack 8 includes a mounting rack 48 mounted on the side of the liquid medicine tank 1. A fifth motor 49 is mounted outside the mounting rack 48. The output shaft of the fifth motor 49 penetrates and extends into the mounting rack 48 and is connected with a storage shaft 50. A hose 51 is wound around the storage shaft 50. The side of the liquid medicine tank 1 is connected with a suction pump 52 through a pipe. The liquid outlet end of the suction pump 52 is connected with the hose 51. The hose 51 inside the pipe rack 8 on one side of the liquid medicine tank 1 is connected with the liquid inlet pipe 37, so as to provide the required liquid medicine for the nozzle I 39. The hose 51 inside the pipe rack 8 on the other side of the liquid medicine tank 1 is connected with the annular pipe 46, so as to provide the required liquid medicine for the nozzle II 47. By controlling the operation of the fifth motor 49, it is convenient to wind and unwind the hose 51 wound around the storage shaft 50.

[0032] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A pesticide spraying robot system, comprising a pesticide liquid tank (1), characterized in that: A rotating lifting seat (2) and an electric control box (9) are installed on the surface of the liquid medicine tank (1); angle adjustment arms (3) are installed on both sides of the top of the rotating lifting seat (2); a position adjustment arm (4) is slidably installed inside the angle adjustment arm (3); angle adjustment seats (5) are installed on both ends of the position adjustment arm (4); a row spray rack (6) is detachably installed on the angle adjustment seat (5) on one side of the rotating lifting seat (2); a fog cannon spray rack (7) is detachably installed on the angle adjustment seat (5) on the other side of the rotating lifting seat (2); and pipe racks (8) are installed on both sides of the liquid medicine tank (1); the angle adjustment arm (3) includes a mounting shell (18) fixed on both sides of the inner sliding pipe (11); a second motor (19) is installed inside the mounting shell (18); an output shaft of the second motor (19) penetrates and extends to the outside of the mounting shell (18) and is connected to a fixed shell (20) through a fixing pin (21); the fixed shell (20) is connected to the fixed shell (20) and the fixed shell (20) is connected to the fixed shell (20). A bearing (22) is arranged between the mounting shells (18); an adjusting tube (23) is slidably installed inside the fixed shell (20); a sliding groove (25) is provided on one side of the adjusting tube (23); a guide rod (24) is installed at a position corresponding to the sliding groove (25) inside the fixed shell (20); a rack (26) is installed on the other side of the adjusting tube (23); a rotating shaft (27) is installed inside the fixed shell (20) on the side of the rack (26); the rotating shaft The top end of the adjusting tube (27) passes through and extends to the outside of the fixed shell (20) and is connected to a motor three (29); a gear (28) meshingly connected to the rack (26) is sleeved on the rotating shaft (27); an electric push rod two (30) is installed inside one end of the adjusting tube (23); the electric push rod two (30) passes through and extends to the outside of the adjusting tube (23) and is connected to a fixed tube (31); and a fixed tube (31) is also installed on the other end of the adjusting tube (23).

2. A pesticide spraying robot system according to claim 1, characterized in that: The rotary lifting seat (2) comprises a support tube (10) mounted on the surface of the medicine liquid tank (1), an inner sliding tube (11) is slidably mounted inside the support tube (10), the top end of the inner sliding tube (11) is arranged above the support tube (10), a bearing seat (13) is fixed to the top side of the inner sliding tube (11) through a limit ring (12), the bottom end of the bearing seat (13) is connected to the surface of the medicine liquid tank (1) through an electric push rod (14), a motor (16) is mounted at a position on the surface of the medicine liquid tank (1) corresponding to the inside of the support tube (10), a connecting rod (17) is mounted on the output shaft of the motor (16) through a coupling, a connecting block (15) is mounted inside the inner sliding tube (11), and a sliding hole is opened on the connecting block (15) at a position corresponding to the connecting rod (17).

3. A pesticide spraying robot system according to claim 2, characterized in that: The angle adjustment seat (5) comprises a motor four (32) installed inside a fixed tube (31), an output shaft of the motor four (32) passes through and extends to the outside of the fixed tube (31), and a support ring (53) is installed on the side of the fixed tube (31) at a position corresponding to the outside of the output shaft of the motor four (32).

4. A pesticide spraying robot system according to claim 3, characterized in that: The row-type spraying frame (6) comprises a U-shaped seat (33) sleeved on the outside of a support ring (53), the interior of the U-shaped seat (33) is connected to the support ring (53) via a connecting bearing (34), a mounting plate (36) is fixed to the side of the U-shaped seat (33) via a fixing bolt (35), a liquid inlet pipe (37) is installed on one side of the mounting plate (36), a nozzle (38) is installed on the other side of the mounting plate (36), and a nozzle (39) is distributed on the nozzle (38).

5. A pesticide spraying robot system according to claim 4, characterized in that: The fog cannon spray frame (7) includes a mounting ring (43), wherein the mounting ring (43) is fixed to the side of the fixed pipe (31) through a fixing column (44), the output shaft of the motor four (32) is arranged inside the mounting ring (43) and connected to the connecting seat (41) through a pin shaft (40), a fan blade frame (42) is installed on the connecting seat (41), an annular tube (46) is installed outside the mounting ring (43), a nozzle two (47) is distributed on the annular tube (46), the water outlet end of the nozzle two (47) is arranged inside the mounting ring (43), the fan blade frame (42) is arranged between the nozzle two (47) and the pin shaft (40), and an air inlet (45) is distributed on the surface of the mounting ring (43) corresponding to the fixed pipe (31).

6. The pesticide spraying robot system according to claim 1, characterized in that: The pipeline rack (8) comprises a mounting rack (48) mounted on the side of the liquid medicine tank (1), a motor (49) is mounted on the outside of the mounting rack (48), an output shaft of the motor (49) passes through and extends into the interior of the mounting rack (48) and is connected to a storage shaft (50), a hose (51) is wound around the storage shaft (50), a pump (52) is connected to the side of the liquid medicine tank (1) via a pipeline, and a liquid outlet end of the pump (52) is connected to the hose (51).

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